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   VI-MotionCueing &gt; <a href="drvsim_motioncueing_vi-drivesim_gui_description.htm">VI-MotionCueing GUI description</a>&nbsp;&gt;</p>
      <h1 class="p_Heading1" style="page-break-after: avoid;"><span class="f_Heading1">9 - Features</span></h1>

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<p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">Avoid Inversion</span></p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">The inversion avoidance is a useful feature of the MCA to avoiding inversion of acceleration that are typical when using high pass filters. The working principle is to saturate the output of the high pass filter whenever they produce an opposite sign perceived acceleration. When activated the value on the text-box parameterizes the saturation level in m/s^2 or rad/s, acting like a perception threshold along the relative DOF. When identically zero &nbsp;no opposite-sign accelerations/velocities are produced and a greater area is used by the platform; when greater than zero an equivalent value of opposite motion is accepted reducing the overall platform motion. From literature 0.05 m/s^2 and 0.05 rad/s are considered the common perception threshold for human being.</p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
<p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">Long. Balance</span></p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">This parameters is used to bias the effect of longitudinal cueing &nbsp;(w.o. changing its control parameters) to deceleration or acceleration. It is useful if the positive accelerations are too low compared to the negative ones or vice versa. If a high non-linear parameter is used (i.e. &gt;1.5, see point 6 below), then likely a bias coefficient in opposite direction is required, to help the platform return back to neutral position.</p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">A positive value of the parameter increases positive accelerations, and at the same time decreases negative acceleration accordingly.</p>
<p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="color: #000000;">&nbsp;</span></p>
<p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">Offset</span></p>
<p style="text-align: left; margin: 0px 0px 0px 23px;">The offsets are available for longitudinal, lateral, vertical directions and for yaw angles. They are useful when the motions do not exploit the platform workspace symmetrically. For example, when braking actions are more intensive than acceleration ones, or when the target course is mainly turning in one direction.</p>
<p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="color: #000000;">&nbsp;</span></p>
<p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">Hexa supply</span></p>
<p style="text-align: left; margin: 0px 0px 0px 23px;">Due to DOFs redundancy, the hexapod can be used to perform a percentage of the global displacement of the three redundant DOFs (X,Y,Yaw). The number is expressed in %. Along the longitudinal and</p>
<p style="text-align: left; margin: 0px 0px 0px 23px;">lateral axes it is possible to use this feature to exploit the global the platform limits, letting the hexapod contributing even for motion signals below the frequency split defined (see above). Along the yaw axis the parameter can be tuned to reduce the probability to reach tripod actuator limits.</p>
<p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="color: #000000;">&nbsp;</span></p>
<p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">Suggested parameters</span></p>
<p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="color: #000000;">&nbsp;</span></p>
<p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">Inversion Avoidance</span></p>
<p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="color: #000000;">&nbsp;</span></p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">Normal Setting</p>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 23px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>X-Pitch: &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;active with 0.05 m/s^2</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 23px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>Y-Roll: &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;active with 0.05 m/s^2</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 23px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>Z: &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;active / inactive (driver’s choice) with 0.05 m/s^2</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 23px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>Yaw: &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;inactive (eventually with with 0.05 rad/s)</p><p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="color: #000000;">&nbsp;</span></p>
<p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">X Balance</span></p>
<p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="color: #000000;">&nbsp;</span></p>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 23px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>range of variation: &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; -0.5 / +0.5</p><p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
<p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">Offset</span></p>
<p style="text-align: left; margin: 0px 0px 0px 23px;">No specific range is recommended, to be tuned depending on driver’s request.</p>
<p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="color: #000000;">&nbsp;</span></p>
<p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">Hexa supply</span></p>
<p style="text-align: left; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 23px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>Optional range are:</p><p style="text-align: left; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 23px;"><span style="font-size:10pt; font-family: 'Courier New';color:#000000;display:inline-block;width:13px;margin-left:-13px">o</span>Longitudinal &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 0 - 0.1</p><p style="text-align: left; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 23px;"><span style="font-size:10pt; font-family: 'Courier New';color:#000000;display:inline-block;width:13px;margin-left:-13px">o</span>Lateral &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;0 - 0.1</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 23px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>Recommended range are:</p><p style="text-align: left; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 23px;"><span style="font-size:10pt; font-family: 'Courier New';color:#000000;display:inline-block;width:13px;margin-left:-13px">o</span>Yaw  &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; 0.2 - 0.4</p>
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